Hi CFH,
Perhaps a home is the best thing for him. He can have nurses and support there 24/7.
Reading your post brought back awful memories for me. Your husband sounds quite like my Dad. Back in those days, I thought it was normal for Dad's to be like that but I was only young. When he got diagnosed with cancer, he went from bad to worse. They were bloody awful times.
Why don't you let your daughter go and stop with her Nan at weekends? You are not failing her as a Mother at all. It will give your daughter something to look forward to instead of dreading the shenanigan's at home.
Denis asked a few questions about your housing situation. If you answer those, we can advise you better.
Good luck.